Kinematic inversion

IEEE International Conference on Intelligent Robots and Systems

Volumn 2, Issue , 2002, Pages 1904-1909

  Ramdane Cherif, A ^a   Daachi, B ^b   Benallegue, A ^b   Levy N ^a  

^a UNIVERSITY OF VERSAILLES   (France)

^b Lab de Robotique de Versailles   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; COMPUTATIONAL METHODS; END EFFECTORS; INVERSE PROBLEMS; KINEMATICS; NEURAL NETWORKS;

ADAPTIVE NEURAL NETWORK; INVERSE KINEMATIC PROBLEM; PSEUDOINVERSE JACOBIAN MATRIX; ROBOT MANIPULATOR;

REDUNDANT MANIPULATORS;

EID: 0036448816     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. K. H. Hunt, "Robot kinematics- a compact analytic inverse solution for velocities," ASME Journal of Mechanisms, Transmissions and Automation in Design, vol. 109. Nø, p. 42, 1987.
2. M. Kircanski and T. Petrovic, "Combined analytical-pseudoinverse kinematic solution for simple redundant manipulators and singularity avoidance," International Journal of Robotics Research, vol. 7, Nø.1., p. 188, 1993.
3. Y. Bestaoui, "An unconstrained optimization approach to the resolution of the inverse kinematic problem of redundant and non-redundant robots," Robotics and Autonomous Systems, vol. 7, Nø., p. 37, 1991.
4. R. Featherstone, "Accurate trajectory transformations for redundant and nonredundant robots," in International Conference on Robotics and Automation, (San Diego, California), pp. 8-13, May 1994.
5. M. Ait and A. C. Chevallereau, "Resolution of robot redundancy in the cartesian space by criteria optimization," in IEEE Conference on Robotics and Automation, (Atlanta), pp. 646-651, 1993.
6. R. Mayorga, A. K. C. Wong, and K. S. Ma, "An efficient local approach for the path generation of robot manipulators," Journal of Robotics Systems, vol. 7(1), no. 1, pp. 23-55, 1990.
7. P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano, "Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy," The International Journal of Robotics Research, vol. 10, No. 4., p. 410, 1991.
8. H. Seraji and R. Colbaugh, "Improved configuration control for redundant robots," Journal of Robotic Systems, vol. 7, no. 6, pp. 897-928, 1990.